fix(canopen_ros2_control): return ERROR for non-zero EMCY #387
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benmaidel
reviewed
Nov 6, 2025
| canopen_data.emcy_data.original_emcy.msef[0], canopen_data.emcy_data.original_emcy.msef[1], | ||
| canopen_data.emcy_data.original_emcy.msef[2], canopen_data.emcy_data.original_emcy.msef[3], | ||
| canopen_data.emcy_data.original_emcy.msef[4]); | ||
| return hardware_interface::return_type::ERROR; |
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Would it make more sense to avoid returning ERROR in this case, and instead give the system a chance to recover rather than shutting it down?
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so just ignore it and continue reading? Sensible probably would be to deactive hardware, which also deactivates controllers that write to it. The reading ones stay. Would this be OK?
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There is one small bug still in the code to return always the error.